Underwater robot, and method and apparatus for controlling the same

ABSTRACT

Provided are an underwater robot and a method and apparatus for controlling an underwater robot. The underwater robot includes a robot body and at least three groups of thruster arrays disposed on sides of the robot body. Each group of thruster array includes two thruster components, each of the two thruster components includes a housing and a propelling mechanism, the two thruster components in each group of thruster array are symmetrically disposed on two sides of the robot body about a central axis of the robot body, and at least three values of included angles between propelling directions of at least three thruster components located on a same side of the central axis, and the central axis are formed. The control method includes: acquiring coordinates of a target position point and enabling a robot body to arrive at the target position point by using at least three groups of thruster arrays disposed on sides of the robot body.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This is a national stage application filed under 37 U.S.C. 371 based onInternational Patent Application No. PCT/CN2020.080616, filed Jun. 29,2018, which claims priority to Chinese Patent Application No.201910300120.6 filed Apr. 15, 2019, the disclosure of which isincorporated herein by reference in its entirety.

TECHNICAL FIELD

The present application relates to the technical field of robots, forexample, an underwater robot, and a method and apparatus for controllingan underwater robot.

BACKGROUND

Human beings have keen interest in exploring an unknown underwaterworld. With the continuous development of science and technology,underwater exploration comes into reality from guesswork. As anunderwater extreme operation apparatus, an underwater robot can adapt tothe harsh underwater environment and complete a variety of operations.Moreover, the underwater robot is also capable of diving to the depthwhich human beings cannot reach. Therefore, the underwater robot hasbecome an important tool for ocean exploitation.

In the related art, an underwater robot can move forward or backward bybeing propelled by a thruster installed at the tail of the robot,alternatively an underwater robot can ascend or descend by means of athruster installed at the bottom of the robot body, alternatively anunderwater robot can move forward or backward by being propelled by athruster installed at the tail of the robot and can also ascend ordescend by means of a thruster installed at the bottom of the robotbody.

However, the underwater robot in the related art can merely move forwardand backward and ascend and descend, inflexible in adjusting a postureof the robot body and failing to achieve omni-directional movements,which tremendously limits movement flexibility of the underwater robot.

SUMMARY

The present application provides an underwater robot and provides amethod and apparatus for controlling an underwater robot. At least sixthruster components disposed on sides of a body of the underwater robotare used to control the position and posture of the underwater robot.

An embodiment provides an underwater robot. The underwater robotincludes a robot body and at least three groups of thruster arraysdisposed on sides of the robot body. Each group of thruster arrayincludes two thruster components.

Each of the two thruster components includes a propelling mechanism anda housing. The propelling mechanism and the housing is configured tocarry the propelling mechanism.

The two thruster components in each group of thruster array aresymmetrically disposed on two sides of the robot body about a centralaxis of the robot body; at least three values of included angles betweenpropelling directions of at least three thruster components located on asame side of the central axis, and the central axis of the robot bodyare formed so that propelling mechanisms of the at least three thrustercomponents provide the robot body with propelling forces in at leastthree propelling directions.

An embodiment provides a method for controlling an underwater robot. Theunderwater robot includes a robot body and at least three groups ofthruster arrays disposed on sides of the robot body; each group ofthruster array includes two thruster components; and the two thrustercomponents in each group of thruster array are symmetrically disposed ontwo sides of the robot body about a central axis of the robot body. Atleast three values of included angles between propelling directions ofat least three thruster components located on a same side of the centralaxis, and the central axis of the robot body are formed. The method forcontrolling an underwater robot includes: acquiring coordinates of atarget position point; and making the robot body arrive at the targetposition point by using the at least three groups of thruster arraysdisposed on the sides of the robot body, which is a step including:

adjusting a posture of the robot body by using at least two groups ofthruster arrays disposed on the sides of the robot body so as to make ahead of the robot body point to the target position point and propellingthe robot body to move by using at least one group of thruster arraydisposed on the sides of the robot body so as to make the robot bodyarrive at the target position point; or

moving the robot body by using the at least three groups of thrusterarrays disposed on the sides of the robot body so as to make the robotbody move to the target position point in any posture.

An embodiment provides an apparatus for controlling an underwater robot.The underwater robot includes a robot body and at least three groups ofthruster arrays disposed on sides of the robot body. Each group ofthruster array includes two thruster components. The two thrustercomponents in each group of thruster array are symmetrically disposed ontwo sides of the robot body about a central axis of the robot body. Atleast three values of included angles between propelling directions ofat least three thruster components located on a same side of the centralaxis, and the central axis of the robot body are formed. The apparatusfor controlling an underwater robot includes: a target positionacquisition mechanism which is configured to acquire coordinates of atarget position point; and a position and posture adjustment mechanism.The position and posture adjustment mechanism is configured to adjust aposture of the robot body by using at least two groups of thrusterarrays disposed on the sides of the robot body so as to make a head ofthe robot body point to the target position point, and propel the robotbody to move by using at least one group of thruster array disposed onthe sides of the robot body so as to make the robot body arrive at thetarget position point or is configured to move the robot body by usingthe at least three groups of thruster arrays disposed on the sides ofthe robot body so as to make the robot body move to the target positionpoint in any posture.

In the present application, at least three groups of thruster arrays aredisposed on the sides of the robot body. Moreover, each group ofthruster array includes two thruster components which are symmetricallydisposed about the central axis of the robot body. At least threethruster components located on the same side of the central axis areinstalled at positions such that at least three values of includedangles between propelling directions of the at least three thrustercomponents and the central axis of the robot body are formed. With thisconfiguration, the thruster components are enabled to provide the robotbody with propelling forces in at least three propelling directions, andthus control over the position and posture of an underwater robot isachieved. For example, full-angle hovering control and movement controlare achieved. Movement flexibility of the underwater robot is greatlyimproved and the control precision is improved.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1A is a structural view of an underwater robot according toembodiment one;

FIG. 1B is a structural view of an underwater robot according toembodiment one;

FIG. 1C is a block diagram showing a structure of an underwater robotaccording to embodiment one;

FIG. 2 is a flowchart of a method for controlling an underwater robotaccording to embodiment two; and

FIG. 3 is a block diagram showing a structure of an apparatus forcontrolling an underwater robot according to embodiment three.

DETAILED DESCRIPTION Embodiment One

As shown in FIGS. 1A, 1B, and 1C, this embodiment provides an underwaterrobot which includes a robot body 1 and at least three groups ofthruster arrays 2 disposed on sides of the robot body 1. Each group ofthruster array 2 includes two thruster components 21.

As a main part of the underwater robot, the robot body 1 includes notonly a control terminal of the underwater robot but also relevantcomponents for preforming actions and functions of the underwater robot,such as components for search and rescue, pipe maintenance, and energyexploration, for example, at least one of a video camera, a camera, alamp, or other observation components; at least one of a robotic arm, acutter, a cleaning device, or other operation components.

A thruster component 21 is an apparatus for converting other forms ofenergy into mechanical energy and propels the underwater robot to moveby means of rotating blades or jetting water.

Optionally, in this embodiment, the thruster component 21 may be apropeller thruster or a water-jet thruster. The propeller thruster, witha main engine driving a propelling shaft to rotate together, sucks waterfrom a suction surface of a blade and discharges the water from apressure surface of the blade to propel a robot body to move forwardwith reaction forces of the water. The propeller thruster is featured bya simple structure and high working efficiency. The water-jet thruster,with a jetting part of the propelling mechanism immersed into water,uses reaction forces generated by jetting a water flow to drive a robotbody to move forward. Compared with the propeller thruster, thewater-jet thruster is easier to operate and more adaptable toenvironments, which is suitable for working in the harsh environment,such as waters with a lot of sediment.

Optionally, in this embodiment, the propelling mechanism includes amotor, and a propelling force provided when the motor rotates in aforward direction and a propelling force provided when the motor rotatesin a reverse direction have opposite propelling directions.

As shown in FIG. 1A, the thruster component 21 includes a housing 211and a propelling mechanism 212. The housing 211 is configured to carrythe propelling mechanism 212.

Optionally, in this embodiment, the thruster component 21 may beconnected to the robot body 1 through the housing; the housing may alsobe connected to the robot body 1 by a fixing mechanism; as shown in FIG.1B, the fixing mechanism includes a fixing part 22, an extending part23, and a carrying part 24 which are successively connected to eachother; the fixing part 22 is configured to be fixedly connected to therobot body 1; the carrying part 24 is configured to be connected to thehousing which carries the propelling mechanism; the extending part 23,with extending and contracting functions, is configured to connect thefixing part 22 and the carrying part 24; and two fixing mechanisms ineach group of thruster array 2 are symmetrically disposed on two sidesof the robot body 1 about the central axis of the robot body 1.

The two thruster components 21 in each group of thruster array 2 aresymmetrically disposed on the two sides of the robot body 1 about thecentral axis of the robot body 1. At least three values of includedangles between at least three thruster components 21 located on a sameside of the central axis, and the central axis of the robot body areformed so that propelling mechanisms provide the robot body 1 withpropelling forces in at least three propelling directions.

In this embodiment, the underwater robot includes three groups ofthruster arrays 2, and a sum of a value of an included angle between apropelling direction of one thruster component at a front end and adirection perpendicular to a plane where the central axis is located,and a value of an included angle between a propelling direction ofanother thruster component at a rear end and the direction perpendicularto the plane where the central axis is located is zero, where the onethruster component at the front end is located at the same side of thecentral axis as the another thruster component at the rear end. Thefront end is closer to the head of the robot body 1 and the rear end iscloser to the tail of the robot body 1. For example, referring to FIG.1B, a value of an included angle between the propelling direction of theright thruster at the front end and the perpendicular direction is 30°and thus a value of an included angle between the propelling directionof the right thruster at the rear end and the perpendicular direction is−30°. Exemplarily, when the value of the included angle between thepropelling direction of the right thruster at the front end and theperpendicular direction is 30′, a value of an included angle between thepropelling direction of the right thruster at the front end and thecentral axis of the robot body 1 is 60°. Therefore, values of includedangles between propelling directions of three thruster componentslocated on the same side of the central axis, and the central axis ofthe robot body 1 may be, from front to rear, 60°, 0°, and −60°,respectively. That is, values of included angles between propellingdirections of three thruster components located on the same side of thecentral axis, and the direction perpendicular to the robot body 1 are30°. 0°, and 30°, respectively. Optionally, in this embodiment, thevalues of included angles between the propelling directions of the threethruster components 21 located on the same side of the central axis.

Optionally, the two thruster components 21 in each group of thrusterarray 2 have the same power.

Optionally, the underwater robot further includes a thruster component21 disposed on at least one of a bottom surface of the robot body 1 or atop surface of the robot body 1; the thruster component 21 is disposedon at least one of the bottom surface of the robot body 1 or the topsurface of the robot body 1 so that the underwater robot can be providedwith a propelling force in a perpendicular direction to facilitateascending and descending of the underwater robot.

In this embodiment, at least three groups of thruster arrays aredisposed on the sides of the robot body 1, each group of thruster arrayincludes two thruster components 21 which are symmetrically disposedabout the central axis of the robot body 1, and at least three values ofincluded angles between propelling directions of at least three thrustercomponents 21 located on the same side of the central axis, and thecentral axis are formed. In this manner, thruster components 21 providethe robot body 1 with propelling forces in at least three propellingdirections, and thus control over the position and posture of anunderwater robot is achieved. For example, full-angle hovering controland movement control are achieved. Movement flexibility of theunderwater robot is greatly improved and the control precision isimproved.

Embodiment Two

FIG. 2 is a flowchart of a method for controlling an underwater robotaccording to this embodiment. The method is suitable for a case wherethe position and posture of the underwater robot are controlled by usingat least six thruster components 21 installed on sides of a robot body1. This method may be performed by an apparatus for controlling anunderwater robot described in an embodiment of the present applicationand generally may be integrated into the underwater robot described inany embodiment of the present application. Exemplarily, this method maybe integrated into the robot body 1 of the underwater robot in the formof program codes. The method includes steps described below.

In S210, coordinates of a target position point are acquired.

For example, a control terminal of the underwater robot may be used toreceive information about the coordinates of the target position pointvia a communication system; or a functional component of the underwaterrobot, such as a video camera or a camera, may also be used to acquireimage information and then the control terminal is used to calculate thecoordinates of the target position point.

In S220, at least three groups of thruster arrays 2 disposed on thesides of the robot body are used to make the robot body 1 arrive at thetarget position point. Such step includes the following steps: a postureof the robot body is adjusted by using at least two groups of thrusterarrays 2 disposed on the sides of the robot body 1 so as to make a headof the robot body 1 point to the target position point, and the robotbody 1 is propelled to move by using at least one group of thrusterarray 2 disposed on the sides of the robot body 1 so as to make therobot body 1 arrive at the target position point; alternatively, therobot body 1 is moved by using the at least three groups of thrusterarrays 2 disposed on the sides of the robot body 1 so as to make therobot body 1 move to the target position point in any posture. Eachgroup of thruster array 2 includes two thruster components 21. The twothruster components 21 in each group of thruster array 2 aresymmetrically disposed on two sides of the robot body 1 about a centralaxis of the robot body 1. At least three values of included anglesbetween propelling directions of at least three thruster components 21located on the same side of the central axis, and the central axis areformed.

Exemplarily, in the case where the posture of the robot body 1 isadjusted first and then the position of the robot body 1 is controlled,different thruster arrays 2 are used for performing movement control andposture control on the robot body 1. That is, at least two groups ofthruster arrays 2 disposed on the sides of the robot body 1 foradjusting the posture of the robot body 1 and at least one group ofthruster array 2 disposed on the sides of the robot body 1 forpropelling the robot body 1 to move are different thruster arrays 2. Forexample, an underwater robot includes three groups of thruster arrays 2.Two groups of thruster arrays 2 disposed on sides of a robot body 1, inparticular, respectively at the front end and the rear end of the robotbody 1, are used to adjust the posture of the robot body 1 so as to makethe front end of the robot body 1 point to a target position point, andthen one group of thruster array 2 disposed on the sides of the robotbody 1, in particular, in the middle part of the robot body 1, is usedto propel the robot body 1 to move so as to make the robot body 1 arriveat the target position point.

In this embodiment, at least three groups of thruster arrays 2 aredisposed on the sides of the robot body 1, and each group of thrusterarray 2 includes two thruster components 21 which are symmetricallydisposed about the central axis of the robot body 1 so that thrustercomponents 21 provide the robot body 1 with propelling forces in atleast three propelling directions. With this configuration, control overthe position and posture of an underwater robot is achieved. Forexample, full-angle hovering control and movement control are achievedand the robot body 1 can move to the target position point in anyposture. Movement flexibility of the underwater robot is greatlyimproved and the control precision is improved.

Embodiment Three

FIG. 3 is a block diagram showing a structure of an apparatus forcontrolling an underwater robot according to this embodiment. Theapparatus includes a target position acquisition mechanism 310 and aposition and posture adjustment mechanism 320.

The target position acquisition mechanism 310 is configured to acquirecoordinates of a target position point.

The position and posture adjustment mechanism 320 is configured toadjust a posture of the robot body 1 by using at least two groups ofthruster arrays 2 disposed on the sides of the robot body 1 so as tomake a head of the robot body 1 point to the target position point, andpropel the robot body 1 to move by using at least one group of thrusterarray 2 disposed on the sides of the robot body 1 so as to make therobot body 1 arrive at the target position point. Alternatively, theposition and posture adjustment mechanism 320 is configured to move therobot body 1 by using the at least three groups of thruster arrays 2disposed on the sides of the robot body 1 so as to make the robot body 1move to the target position point in any posture.

Each group of thruster array 2 includes two thruster components 21. Thetwo thruster components 21 in each group of thruster array 2 aresymmetrically disposed on two sides of the robot body 1 about a centralaxis of the robot body 1. At least three values of included anglesbetween propelling directions of at least three thruster components 21located on the same side of the central axis, and the central axis areformed.

In this embodiment, at least three groups of thruster arrays 2 aredisposed on the sides of the robot body 1, and each group of thrusterarray 2 includes two thruster components 21 which are symmetricallydisposed about the central axis of the robot body 1. With thisconfiguration, thruster components 21 provide the robot body 1 withpropelling forces in at least three propelling directions and thuscontrol over the position and posture of an underwater robot isachieved. For example, full-angle hovering control and movement controlare achieved and the robot body 1 can move to target position point inany posture. Movement flexibility of the underwater robot is greatlyimproved and the control precision is improved.

The above apparatus can perform the method for controlling an underwaterrobot provided by any embodiment of the present application and hasfunctional mechanisms and beneficial effects for performing the method.For technical details not described thoroughly in this embodiment,reference may be made to the method provided by any embodiment of thepresent application.

1. An underwater robot, comprising: a robot body and at least threegroups of thruster arrays disposed on two sides of the robot body,wherein each group of thruster array comprises two thruster components;each of the two thruster components comprises a housing and a propellingmechanism, wherein the housing is configured to carry the propellingmechanism; and the two thruster components in each group of thrusterarray are symmetrically disposed on the two sides of the robot bodyabout a central axis of the robot body; propelling directions of atleast three thruster components located on a same side of the centralaxis are arranged at angles from the central axis, wherein the angleshave at least three values respectively, so that propelling mechanismsof the at least three thruster components provide the robot body withpropelling forces in at least three propelling directions.
 2. Theunderwater robot according to claim 1, wherein the housing is connectedto the robot body.
 3. The underwater robot according to claim 1, whereinthe housing is connected to the robot body through a fixing mechanism;the fixing mechanism comprises a fixing part, an extending part, and acarrying part which are successively connected to each other, the fixingpart is fixedly connected to the robot body, and the carrying part isconfigured to carry the propelling mechanism; and two fixing mechanismsin each group of thruster array are symmetrically disposed on the twosides of the robot body about the central axis of the robot body.
 4. Theunderwater robot according to claim 1, comprising three groups ofthruster arrays; wherein a sum of a value of an included angle between apropelling direction of one thruster component at a first end closer toa head of the robot body and a direction perpendicular to a plane wherethe central axis is located, and a value of an included angle betweenanother thruster component at a second end closer to a tail of the robotbody and the direction perpendicular to the plane where the central axisis located is zero, wherein the one thruster component at the first endis located at a same side of the central axis as the another thrustercomponent at the second end.
 5. The underwater robot according to claim1, wherein the two thruster components in each group of thruster arrayhave a same power.
 6. The underwater robot according to claim 1, furthercomprising another thruster component disposed on a bottom surface ofthe robot body or a top surface of the robot body.
 7. The underwaterrobot according to claim 1, wherein each of the two thruster componentscomprises a propeller thruster.
 8. The underwater robot according toclaim 1, wherein the propelling mechanism comprises a motor; and apropelling force provided by the motor to the robot body when the motorrotates in a forward direction and a propelling force provided by themotor to the robot body when the motor rotates in a reverse directionhave opposite propelling directions.
 9. A method for controlling anunderwater robot, wherein the underwater robot comprises a robot bodyand at least three groups of thruster arrays disposed on two sides ofthe robot body, each group of thruster array comprises two thrustercomponents, the two thruster components in each group of thruster arrayare symmetrically disposed on the two sides of the robot body about acentral axis of the robot body, propelling directions of at least threethruster components located on a same side of the central axis arearranged at angles from the central axis of the robot body, wherein theangles have at least three values respectively, and the method forcontrolling an underwater robot comprises: acquiring coordinates of atarget position point; and making the robot body arrive at the targetposition point by using the at least three groups of thruster arraysdisposed on the sides of the robot body, wherein making the robot bodyarrive at the target position point by using the at least three groupsof thruster arrays disposed on the sides of the robot body comprises:adjusting a posture of the robot body by using at least two groups ofthruster arrays disposed on the two sides of the robot body so as tomake a head of the robot body point to the target position point, andpropelling the robot body to move by using at least one group ofthruster array disposed on the two sides of the robot body so as to makethe robot body to arrive at the target position point; or moving therobot body by using the at least three groups of thruster arraysdisposed on the two sides of the robot body so as to make the robot bodymove to the target position point in any posture.
 10. An apparatus forcontrolling an underwater robot, wherein the underwater robot comprisesa robot body and at least three groups of thruster arrays disposed ontwo sides of the robot body, each group of thruster array comprises twothruster components, the two thruster components in each group ofthruster array are symmetrically disposed on the two sides of the robotbody about a central axis of the robot body, propelling directions of atleast three thruster components located on a same side of the centralaxis are arranged at angles from the central axis of the robot body areformed, and the apparatus for controlling an underwater robot comprises:a target position acquisition mechanism configured to acquirecoordinates of a target position point; and a position and postureadjustment mechanism, wherein the position and posture adjustmentmechanism is configured to: adjust a posture of the robot body by usingat least two groups of thruster arrays disposed on the two sides of therobot body so as to make a head of the robot body point to the targetposition point, and propel the robot body to move by using at least onegroup of thruster array disposed on the two sides of the robot body soas to make the robot body arrive at the target position point; or movethe robot body by using the at least three groups of thruster arraysdisposed on the sides of the robot body so as to make the robot bodymove to the target position point in any posture.
 11. The underwaterrobot according to claim 1, further comprising other thruster componentsdisposed on a bottom surface of the robot body and a top surface of therobot body respectively.
 12. The method for controlling an underwaterrobot of claim 9, wherein each of the two thruster components comprisesa housing and a propelling mechanism, wherein the housing is configuredto carry the propelling mechanism.
 13. The method for controlling anunderwater robot of claim 12, wherein the housing is connected to therobot body.
 14. The method for controlling an underwater robot of claim12, wherein the housing is connected to the robot body through a fixingmechanism; the fixing mechanism comprises a fixing part, an extendingpart, and a carrying part which are successively connected to eachother, the fixing part is fixedly connected to the robot body, and thecarrying part is configured to carry the propelling mechanism; and twofixing mechanisms in each group of thruster array are symmetricallydisposed on the two sides of the robot body about the central axis ofthe robot body.
 15. The method for controlling an underwater robot ofclaim 12, wherein the underwater robot comprises three groups ofthruster arrays; wherein a sum of a value of an included angle between apropelling direction of one thruster component at a first end closer toa head of the robot body and a direction perpendicular to a plane wherethe central axis is located, and a value of an included angle betweenanother thruster component at a second end closer to a tail of the robotbody and the direction perpendicular to the plane where the central axisis located is zero, wherein the one thruster component at the first endis located at a same side of the central axis as the another thrustercomponent at the second end.
 16. The method for controlling anunderwater robot of claim 12, wherein the two thruster components ineach group of thruster array have a same power.
 17. The apparatus forcontrolling an underwater robot of claim 10, wherein each of the twothruster components comprises a housing and a propelling mechanism,wherein the housing is configured to carry the propelling mechanism. 18.The apparatus for controlling an underwater robot of claim 17, whereinthe housing is connected to the robot body.
 19. The method forcontrolling an underwater robot of claim 17, wherein the housing isconnected to the robot body through a fixing mechanism; the fixingmechanism comprises a fixing part, an extending part, and a carryingpart which are successively connected to each other, the fixing part isfixedly connected to the robot body, and the carrying part is configuredto carry the propelling mechanism; and two fixing mechanisms in eachgroup of thruster array are symmetrically disposed on the two sides ofthe robot body about the central axis of the robot body.
 20. The methodfor controlling an underwater robot of claim 17, wherein the underwaterrobot comprises three groups of thruster arrays; wherein a sum of avalue of an included angle between a propelling direction of onethruster component at a first end closer to a head of the robot body anda direction perpendicular to a plane where the central axis is located,and a value of an included angle between another thruster component at asecond end closer to a tail of the robot body and the directionperpendicular to the plane where the central axis is located is zero,wherein the one thruster component at the first end is located at a sameside of the central axis as the another thruster component at the secondend.